%define ros_distro humble
%define RosPkgName mrpt-libtclap
%define src_version 2.15.21-2
%define mrpt_version 2.15.21
# mrpt 的 git submodule 内容（GitHub archive tarball 不含），按需手工补：
%define nanoflann_version 1.5.5
%define simpleini_version 4.22

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.15.21
Release:        1%{?dist}
Summary:        Mobile Robot Programming Toolkit (MRPT) libraries (tclap C++ library)
License:        BSD
URL:            https://github.com/MRPT/mrpt_ros/tree/main
Source0:        %{RosPkgName}-%{src_version}.tar.gz
# mrpt upstream source: 预取，避免 ExternalProject 在构建期 git clone（COPR chroot 无外网）
Source1:        https://github.com/MRPT/mrpt/archive/refs/tags/%{mrpt_version}.tar.gz#/mrpt-%{mrpt_version}.tar.gz
# mrpt 的两个 submodule（COPR chroot 无外网，构建期无法克隆，须随 SRPM 携带）：
#   nanoflann —— script_nanoflann.cmake 在找不到系统包时对 3rdparty/nanoflann 跑
#                cmake，而 GitHub archive tarball 里该目录为空目录 → FATAL_ERROR
#   simpleini —— mrpt-config 的 include 目录（与已成功构建的 mrpt-libbase 同款处置）
Source2:        https://github.com/jlblancoc/nanoflann/archive/refs/tags/v%{nanoflann_version}.tar.gz#/nanoflann-%{nanoflann_version}.tar.gz
Source3:        https://github.com/brofield/simpleini/archive/refs/tags/v%{simpleini_version}.tar.gz#/simpleini-%{simpleini_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  ros-%{ros_distro}-mrpt-libbase
BuildRequires:  assimp-devel
BuildRequires:  cmake
BuildRequires:  eigen3-devel
BuildRequires:  ffmpeg-devel
BuildRequires:  freeglut-devel
BuildRequires:  git
BuildRequires:  gtest-devel
BuildRequires:  libXrandr-devel
BuildRequires:  libXxf86vm-devel
BuildRequires:  libglvnd-devel
BuildRequires:  libjpeg-devel
BuildRequires:  libpcap-devel
BuildRequires:  libudev-devel
BuildRequires:  libusbx-devel
BuildRequires:  libzstd-devel
BuildRequires:  mesa-libGL-devel
BuildRequires:  mesa-libGLU-devel
BuildRequires:  opencv
BuildRequires:  pkgconfig
BuildRequires:  pybind11-devel
BuildRequires:  suitesparse-devel
BuildRequires:  tbb-devel
BuildRequires:  tinyxml2-devel
BuildRequires:  zlib-devel

Requires:       ros-%{ros_distro}-ros-workspace

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
Mobile Robot Programming Toolkit (MRPT) libraries (tclap C++ library).
  This package contains: mrpt-tclap

%prep
%autosetup -n %{RosPkgName}-%{src_version}
# --- 复用预置 mrpt 源码，避免 ExternalProject 在构建期 git clone -----------------
# mrpt_libtclap/CMakeLists.txt 用 ExternalProject_Add(mrpt ...) 拉取上游 mrpt，本地
# 复用路径写成 ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/...，那是 ROS 官方
# buildfarm 的目录布局（build 目录 = <ws>/build/mrpt_libtclap，故其 .. 即 <ws>/build）。
# 本 spec 的 CMAKE_BINARY_DIR = <top>/mrpt_libtclap/.obj，同一表达式会多出一层
# mrpt_libtclap（<top>/mrpt_libtclap/mrpt_libtclap/mrpt-build），EXISTS 检查必然
# 失败而退回 git clone；COPR chroot 无外网，clone 100% 失败。统一改写成相对
# CMakeLists.txt 自身目录的 ../mrpt-build，与下面预置的 <top>/mrpt-build 对齐。
sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST_DIR}/../mrpt-build|g' \
    mrpt_libtclap/CMakeLists.txt
# 去掉 HOME==/home/buildfarm 守卫：该条件只对官方 buildfarm 屏蔽本地复用，COPR 里
# HOME 并非 /home/buildfarm，去掉后复用分支在任何构建环境都成立。
sed -i 's| AND NOT "\$ENV{HOME}" STREQUAL "/home/buildfarm"||' \
    mrpt_libtclap/CMakeLists.txt
# 给内层 mrpt 追加开关（外层 cmake 命令行传的 MRPT_WITH_xxx 落在 ROS 包装工程上，
# 而包装工程只把它们原样忽略——真正生效的是写死在 ExternalProject_Add 的
# CMAKE_ARGS，必须在此注入）：
#   MRPT_HAS_LIBFYAML=OFF  openEuler 无 libfyaml，内置分支要 3rdparty/libfyaml
#                          （submodule 空目录）且会 file(READ .tarball-version) 报错
#   MRPT_WITH_KINECT=OFF   libusb 存在时默认开启 Kinect，会去编译空的
#                          3rdparty/libfreenect（openEuler 无 libfreenect-devel）
#   MRPT_HAS_OPENNI2=OFF   无 libopenni2
#   MRPT_BUILD_OCTOMAP=OFF 无系统 octomap 时 ExternalProject 会从 GitHub 下载
#                          octomap（构建期无外网必失败）
sed -i 's|^\(\s*-DDISABLE_JSONCPP=ON\)$|\1\n    -DMRPT_HAS_LIBFYAML=OFF\n    -DMRPT_WITH_KINECT=OFF\n    -DMRPT_HAS_OPENNI2=OFF\n    -DMRPT_BUILD_OCTOMAP=OFF|' \
    mrpt_libtclap/CMakeLists.txt
# 预置 ExternalProject 的 SOURCE_DIR：<top>/mrpt-build/src/mrpt
mkdir -p mrpt-build/src
tar -xzf %{SOURCE1} -C mrpt-build/src
mv mrpt-build/src/mrpt-%{mrpt_version} mrpt-build/src/mrpt
echo -n "%{mrpt_version}" > mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt
# GitHub archive tarball 不含 git submodule 内容，而上游 mrpt 顶层 CMakeLists.txt
# 有无条件存在性检查（3rdparty/nanogui/include、3rdparty/rplidar_sdk/sdk/src），
# 缺失即 FATAL_ERROR "git submodules missing!"。补空目录绕过；两个子项目在内层
# CMAKE_ARGS 里已分别用 -DMRPT_BUILD_nanogui=OFF / -DMRPT_BUILD_rplidar_sdk=OFF 关闭。
mkdir -p mrpt-build/src/mrpt/3rdparty/nanogui/include \
         mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src
# 填充 mrpt 的两个必需 submodule（见 Source2/Source3 说明）
rm -rf mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini
mkdir -p mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini
tar -xzf %{SOURCE2} -C mrpt-build/src/mrpt/3rdparty/nanoflann --strip-components=1
tar -xzf %{SOURCE3} -C mrpt-build/src/mrpt/3rdparty/simpleini --strip-components=1
# Override the version cmake reads from package.xml to match the pre-fetched source
echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake

%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd mrpt_libtclap
mkdir -p .obj && cd .obj
%cmake3 \
    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
    -DMRPT_WITH_FREENECT=OFF \
    -DMRPT_WITH_OPENNI2=OFF \
    -DMRPT_WITH_GLFW=OFF \
    -DMRPT_BUILD_wxThings=OFF \
    ..
# 闸门：cmake 生成 mrpt-gitclone.cmake 即表示未复用 %prep 预置的 mrpt 源码，构建期
# 将 git clone（COPR chroot 无外网，必然失败）。提前失败并给出明确原因，避免白烧
# 一轮 COPR 构建。
if [ -e mrpt-build/tmp/mrpt-gitclone.cmake ]; then
    echo "ERROR: cmake 准备 git clone mrpt —— %prep 预置源码未被复用，请检查预置路径" >&2
    exit 1
fi
make %{?_smp_mflags}

%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd mrpt_libtclap
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-1
- Rebase to 2.15.21-2 (ROS batch import)
* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-1
- 依赖预检修复：删除在 openEuler 全部已配置源（官方 everything/update/EPOL +
  ROS SIG 外挂源）均无 provider 的 rosdep 键/裸名（libfreenect-devel、
  libglfw3-dev、libopenni2-dev、libxxf86vm、libjpeg、nanoflann_vendor、
  wx-common、wxwidgets、freeglut、python3-pip）——mrpt 上游 cmake 对它们均为
  可选特性探测，本包只构建 mrpt-tclap 粒度用不到；对应豁免见 waived_deps.txt。
  改名补入 openEuler 真实包：freeglut-devel、libjpeg-devel、libXxf86vm-devel、
  libglvnd-devel、mesa-libGLU-devel、libzstd-devel、tbb-devel、gtest-devel、git。
- 离线构建支持（对齐已成功构建的 mrpt-libbase）：Source1 预取 mrpt 2.15.21 源码
  喂 ExternalProject 的 SOURCE_DIR，避免 COPR chroot 无外网时 git clone 失败；
  Source2/Source3 补 nanoflann 1.5.5 与 simpleini 4.22 两个 submodule。
- 内层 mrpt 注入 -DMRPT_HAS_LIBFYAML=OFF / -DMRPT_WITH_KINECT=OFF /
  -DMRPT_HAS_OPENNI2=OFF / -DMRPT_BUILD_OCTOMAP=OFF。